#ifndef __MOVEMODE_H__
#define __MOVEMODE_H__
#include "../BSP/HD/HD.h"
#include "../BSP/JY61P/jy61p.h"
#include "../BSP/Emm/Emm_V5.h"
#include "../BSP/DWT/dwt.h"
#include <math.h>
#include "../BSP/LED/LED.h"
#include "../BSP/Buzzer/Buzzer.h"
typedef struct{
    float x;
    float y;
}POS;
extern POS car_pos;

bool Move_stop_black();
bool Move_Trace(float speed);
bool Move_Trace_optimize(float speed);

bool Move_To_dir(int dir,float speed,bool start);
void Mode_A();
void Mode_B();
bool Move_To_distance(int dir,float speed,int time);
void Mode_D();
void Mode_C();
void Mode_B2();
void Get_XY();
#endif